Research
Research
Research
Research
213+ open-access research outputs.
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. …
Compensatory trunk movements (CTMs) are commonly observed after stroke and can lead to maladaptive movement patterns, limiting targeted training of affected structures. Objective, continuous detection…
Let $f:\mathbb{R}^n\to\mathbb{R}$ be an unknown object, and suppose the observations are tomographic projections of randomly rotated copies of $f$ of the form $Y = P(R\cdot f)$, where $R$ is Haar-unif…
We present $\phi-$DeepONet, a physics-informed neural operator designed to learn mappings between function spaces that may contain discontinuities or exhibit non-smooth behavior. Classical neural oper…
Existing short term voltage stability (STVS) methods typically address either voltage oscillations or delayed voltage recovery; however, the coexistence of both phenomena has not been adequately cover…
Continuum robots exhibit high-dimensional, nonlinear dynamics which are often coupled with their actuation mechanism. Spectral submanifold (SSM) reduction has emerged as a leading method for reducing …
Reliable localisation in vineyards is hindered by row-level perceptual aliasing: parallel crop rows produce nearly identical LiDAR observations, causing geometry-only and vision-based SLAM systems to …
Reliable long-term deployment of autonomous robots in agricultural environments remains challenging due to perceptual aliasing, seasonal variability, and the dynamic nature of crop canopies. Vineyards…
Classical orthogonal wavelets guarantee perfect reconstruction but rely on fixed bases optimized for polynomial smoothness, achieving suboptimal compression on signals with fractal spectral signatures…
The control of high-dimensional systems, such as soft robots, requires models that faithfully capture complex dynamics while remaining computationally tractable. This work presents a framework that in…
Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and…
Ground-penetrating radar (GPR) has emerged as a prominent tool for imaging internal defects in cylindrical structures, such as columns, utility poles, and tree trunks. However, accurately reconstructi…
This paper proposes a narrowband fully-analog $N$-antenna transmitter that emulates the functionality of a narrowband fully-digital $N$-antenna transmitter. Specifically, in symbol interval $m$, the p…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for cont…
Despite advances in upper-limb (UL) prosthetic design, achieving intuitive control of intermediate joints - such as the wrist and elbow - remains challenging, particularly for continuous and velocity-…
Generating dynamic motions for legged robots remains a challenging problem. While reinforcement learning has achieved notable success in various legged locomotion tasks, producing highly dynamic behav…
Fiber reinforcement and polymer matrix respond differently to manufacturing conditions due to mismatch in coefficient of thermal expansion and matrix shrinkage during curing of thermosets. These heter…
This paper considers the problem of obtaining bounded time-average expected queue sizes in a single-queue system with a partial-feedback structure. Time is slotted; in slot $t$ the transmitter chooses…
Event-Triggered Control (ETC) reduces communication overhead in networked systems by transmitting only when stability requires it. Conventional mechanisms use isotropic error thresholds ($\|e\| \le \s…
We study the fundamental problem of \emph{moduli selection} in the Robust Chinese Remainder Theorem (RCRT), where each residue may be perturbed by a bounded error. Consider $L$ moduli of the form $m_i…
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